/****************************************Copyright (c)****************************************************
**                            				 SJTU
**
**                                 05liwang@sjtu.edu.cn
**
**--------------File Info---------------------------------------------------------------------------------
** File name:           collision.h
** Last modified Date:  2019-7-4
** Last Version:        V1.00
** Descriptions:
**
**------------------------------------------------------------------------------------------------------
** Created by:          liwang
** Created date:        2019-7-4
** Version:             V1.00
** Descriptions:
**
**------------------------------------------------------------------------------------------------------
** Modified by:
** Modified date:
** Version:
** Descriptions:
**
*********************************************************************************************************/
#ifndef DYN_TOPPRA_HH
#define DYN_TOPPRA_HH

extern int getTa_toppra(const double* q, const double* qd, const double* qdd, double* torque, double* fv, double* fc, double* offset);

extern void
DynPara_init_toppra(const double* toolParameters, const double* installRPY, const double* dynP, const double* a, const double* d, const double* alpha);

#endif  //LIBDYN_H
